An adaptive fuzzy controller based on sliding mode for robot manipulators

Author

Sun, F.-C. ; Sun, Z.-Q. ; Feng, G.

Author_Institution

Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China

Volume

29

Issue

5

fYear

1999

fDate

10/1/1999 12:00:00 AM

Firstpage

661

Lastpage

667

Abstract

This paper considers adaptive fuzzy control of robotic manipulators based on sliding mode. It is first shown that an adaptive fuzzy system with the system representative point (RP, or as is often termed, a switching function in variable structure control (VSC) theory) and its derivative as inputs, can approximate the robot nonlinear dynamics in the neighborhood of the switching hyperplane. Then a new method for designing an adaptive fuzzy control system based on sliding mode is proposed for the trajectory tracking control of a robot with unknown nonlinear dynamics. The system stability and tracking error convergence are also proved by Lyapunov techniques

Keywords

adaptive control; fuzzy control; industrial manipulators; stability; variable structure systems; Lyapunov techniques; adaptive fuzzy controller; nonlinear dynamics; robot manipulators; robot nonlinear dynamics; sliding mode; switching function; switching hyperplane; system representative point; system stability; tracking error convergence; trajectory tracking control; variable structure control; Adaptive control; Adaptive systems; Control systems; Fuzzy control; Manipulators; Nonlinear control systems; Nonlinear dynamical systems; Programmable control; Robots; Sliding mode control;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

1083-4419

Type

jour

DOI

10.1109/3477.790451

Filename

790451